CN107843251B - 移动机器人的位姿估计方法 - Google Patents
移动机器人的位姿估计方法 Download PDFInfo
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- CN107843251B CN107843251B CN201710969938.8A CN201710969938A CN107843251B CN 107843251 B CN107843251 B CN 107843251B CN 201710969938 A CN201710969938 A CN 201710969938A CN 107843251 B CN107843251 B CN 107843251B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 239000011159 matrix material Substances 0.000 claims description 36
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- 238000000354 decomposition reaction Methods 0.000 description 6
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- 101100460704 Aspergillus sp. (strain MF297-2) notI gene Proteins 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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CN201710969938.8A CN107843251B (zh) | 2017-10-18 | 2017-10-18 | 移动机器人的位姿估计方法 |
PCT/CN2018/073928 WO2019075948A1 (zh) | 2017-10-18 | 2018-01-24 | 移动机器人的位姿估计方法 |
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CN201710969938.8A CN107843251B (zh) | 2017-10-18 | 2017-10-18 | 移动机器人的位姿估计方法 |
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CN107843251A CN107843251A (zh) | 2018-03-27 |
CN107843251B true CN107843251B (zh) | 2020-01-31 |
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Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
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CN108682038B (zh) * | 2018-04-27 | 2021-12-14 | 腾讯科技(深圳)有限公司 | 位姿确定方法、装置及存储介质 |
CN110567469B (zh) | 2018-06-05 | 2021-07-20 | 北京市商汤科技开发有限公司 | 视觉定位方法、装置、电子设备及*** |
CN109099915B (zh) * | 2018-06-27 | 2020-12-25 | 未来机器人(深圳)有限公司 | 移动机器人定位方法、装置、计算机设备和存储介质 |
CN110874818B (zh) * | 2018-08-31 | 2023-06-23 | 阿里巴巴集团控股有限公司 | 图像处理和虚拟空间构建方法、装置、***和存储介质 |
CN111292420B (zh) * | 2020-02-28 | 2023-04-28 | 北京百度网讯科技有限公司 | 用于构建地图的方法和装置 |
CN111951303A (zh) * | 2020-08-12 | 2020-11-17 | 南京师范大学 | 一种机器人运动姿态视觉估计方法 |
CN112068128B (zh) * | 2020-09-19 | 2024-02-02 | 重庆大学 | 一种直道场景线段型雷达数据处理及位姿获取方法 |
CN112583069B (zh) * | 2020-11-19 | 2023-08-08 | 深圳拓邦股份有限公司 | 一种机器人充电保护方法、装置、机器人及存储介质 |
CN112927362A (zh) * | 2021-04-07 | 2021-06-08 | Oppo广东移动通信有限公司 | 地图重建方法及装置、计算机可读介质和电子设备 |
CN113686332A (zh) * | 2021-09-08 | 2021-11-23 | 上海快仓智能科技有限公司 | 移动机器人及其导航方法、装置、设备和存储介质 |
CN115775325B (zh) * | 2023-01-29 | 2023-06-06 | 摩尔线程智能科技(北京)有限责任公司 | 一种位姿确定方法及装置、电子设备和存储介质 |
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KR20070026912A (ko) * | 2005-08-27 | 2007-03-09 | 한국과학기술원 | 입자 필터 프레임 워크에서 전방향 시각센서 기반 위치추정 및 매핑을 위한 방법 |
CN102914967B (zh) * | 2012-09-21 | 2015-01-28 | 浙江工业大学 | 采摘机器人的自主导航和人机协同采摘作业*** |
CN104359464A (zh) * | 2014-11-02 | 2015-02-18 | 天津理工大学 | 基于立体视觉的移动机器人定位方法 |
CN106338287A (zh) * | 2016-08-24 | 2017-01-18 | 杭州国辰牵星科技有限公司 | 基于天花板的室内移动机器人视觉定位方法 |
CN107063228A (zh) * | 2016-12-21 | 2017-08-18 | 上海交通大学 | 基于双目视觉的目标姿态解算方法 |
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KR100468107B1 (ko) * | 2002-10-31 | 2005-01-26 | 삼성광주전자 주식회사 | 외부충전장치를 갖는 로봇청소기 시스템 및 로봇청소기의외부충전장치 접속방법 |
KR100552691B1 (ko) * | 2003-09-16 | 2006-02-20 | 삼성전자주식회사 | 이동로봇의 자기위치 및 방위각 추정방법 및 장치 |
KR101901586B1 (ko) * | 2011-12-23 | 2018-10-01 | 삼성전자주식회사 | 로봇 위치 추정 장치 및 그 방법 |
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CN106646441A (zh) * | 2016-11-16 | 2017-05-10 | 杭州国辰牵星科技有限公司 | 结合环境信息的室内移动机器人定位***及方法 |
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2017
- 2017-10-18 CN CN201710969938.8A patent/CN107843251B/zh active Active
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- 2018-01-24 WO PCT/CN2018/073928 patent/WO2019075948A1/zh active Application Filing
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KR20070026912A (ko) * | 2005-08-27 | 2007-03-09 | 한국과학기술원 | 입자 필터 프레임 워크에서 전방향 시각센서 기반 위치추정 및 매핑을 위한 방법 |
CN102914967B (zh) * | 2012-09-21 | 2015-01-28 | 浙江工业大学 | 采摘机器人的自主导航和人机协同采摘作业*** |
CN104359464A (zh) * | 2014-11-02 | 2015-02-18 | 天津理工大学 | 基于立体视觉的移动机器人定位方法 |
CN106338287A (zh) * | 2016-08-24 | 2017-01-18 | 杭州国辰牵星科技有限公司 | 基于天花板的室内移动机器人视觉定位方法 |
CN107063228A (zh) * | 2016-12-21 | 2017-08-18 | 上海交通大学 | 基于双目视觉的目标姿态解算方法 |
Non-Patent Citations (1)
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用于移动机器人的视觉全局定位***研究;魏芳等;《机器人》;20010930;第23卷(第5期);全文 * |
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WO2019075948A1 (zh) | 2019-04-25 |
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Address after: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B, c) Patentee after: GUANGDONG BONA ROBOT Corp.,Ltd. Address before: 518000, Shenzhen, Guangdong, Baoan District province manhole street, East Ring Road, No. 438, block D, two or three Patentee before: GUANGDONG BONA ROBOT Corp.,Ltd. |
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Denomination of invention: Pose estimation method of mobile robot Effective date of registration: 20211223 Granted publication date: 20200131 Pledgee: Shanghai Pudong Development Bank Limited by Share Ltd. Guangzhou branch Pledgor: GUANGZHOU COAYU ROBOT Co.,Ltd. Registration number: Y2021440000397 |
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